Which ever soldier that was caught out of rankhe hit him with sticks:he ordered that all his beasts of burden be sold.and neither the goods being carried could be sold:he compelled each soldier to bring thirty days worth of cornand seven stakes.

ne oneribus portandis usui essent"...lest they [the animals] should be of use for carrying the burdens."

This is a purpose clause explaining why he ordered the pack-animals to be sold, i.e. basically just to be mean to his own soldiers. The gerundive oneribus portandis and usui are what's sometimes called the double dative construction (technically a dative of reference, here the gerundive, together with a dative of purpose usui). Usui est is actually a pretty common Latin expression that means "be useful/serviceable for [dat.]".

Also, you can translate the qui miles...eum part as "any soldier who", which I think sounds a little better here than "whichever soldier".

To a certain man who, because of the heavy load, became sick, he said:"You will know how to defend yourself with the sword when you desist in bringing the stakes"

In other words, he is sort of saying, if you don't finish building this fortification, then you better be ready to defend yourself against the enemy using only your sword.....It seems a little akward....

When he questioned why it is noted that, for the purpose of guarding, he had remained in the fortifications, Scipio responded "I do not love excessively those loving" (huh?)

He took away a horse of a young man that in the siege of Carthage, calling his friends to dinner, he had placed a shredded(diripiendam?) cake on the table under the shape (sub figura?) of the city of Carthage, and when they asked the reason, Scipio said "because you shredded me before Carthage.

Against Mummius, a friend of Scipio not even himself noted each, and the things noted by the friend that he could, he got rid of the dishonour. (what an earth is this tricky sentence on about??)

aegre incedenti = marching with difficulty "since you will [already] know how to fortify yourself with a sword, then let you forget about carrying the stake." "And when he [the one agrieved] asked why someone should be censured [/branded] who had remained in camp for the reason of guarding [it], Scipio responded, 'I don't like those who are excessively cautious.'"He confiscated a horse from a youth, who, in the siege of Carthage, having invited his friends to dinner, had placed on the table a cake in the shape of Cathage city to be chopped up, and [who was] asking the reason why. 'Because you cut up the city before me', said Scipio. [tu me prior = you earlier than me]"In contrast, Mummius, Scipio's [censor] colleague, did not himself censure anyone at all and [/but, what's more,] those reprimanded by his colleague [Scipio], whom he could [take on/deal with], he used to free from the[ir] disgrace."

Thanks again Adrianus. I guess my main problem was that I had mis-translated "notare", whitakers words does not list "to censure" as a definition for it, one of the rare incidents where Whitakers words is not accurate and exhaustive.

Also "Contra Mummius" I translated as "against Mummius", but actually it would have to be in accusative right? "Contra Mummium", in which case "contra + nominative" is usually "in contrast" rather than "against", is that a fair summary?